非线性模型MPC追踪圆形曲线，这是matlab的m文件-Tracking of circular using MPC with Nulinear model

基于动力学学模型的轨迹跟踪控制，无人驾驶车辆模型预测控制第二版第五章(Trajectory tracking control based on dynamics model, Chapter 5 of model predictive control of driverless vehicle)

加入规划层的轨迹跟踪控制，无人驾驶车辆模型预测控制第二版第六章(Add trajectory tracking control of planning layer, Chapter 6 of the second version of model predictive control of driverless vehicles)